具有指定控制性能的船舶航向保持控制研究

发布时间：2018-06-27 02:19

本文选题：不确定非线性系统 + 鲁棒控制　；参考：《大连海事大学》2015年博士论文

【摘要】：随着造船技术的长足进步和世界航运业的蓬勃发展,船舶趋向于专业化、大型化、自动化及高速化,对船舶操纵、控制性能的要求越来越高,对船舶运动控制地研究也就显得越来越重要。其中,船舶航向保持控制研究成为船舶运动控制领域的一个重要研究方向。船舶在海上航行过程中,由于装载状态、航速等变化的影响和风、浪、流等外界因素的干扰,使船舶航向保持控制系统具有非线性、不确定性等特点。因此,对其控制性能的进一步研究具有重要的实际意义。本文基于Lyapunov稳定性理论、Barbalat引理、Nussbaum不变性引理和Backstepping技术,针对一类不确定严反馈非线性系统,提出了新的控制算法,解决了闭环系统暂态和稳态控制性能无法预先指定的问题。所提出的控制算法具有鲁棒性强、物理意义明显的特点。针对系统中存在的漂移不确定问题,定义一种新型的Lyapunov分段连续可微函数,设计了一种鲁棒λ调节控制算法,最终实现系统的稳态误差收敛到预先指定的区域内。针对系统中存在的符号已知时变控制增益不确定问题,提出了一种更普遍、更有效的鲁棒λ调节控制算法,能够同时处理漂移不确定和控制增益不确定问题,使所有信号满足一致最终有界且跟踪误差最终收敛于预先指定的区域内。针对系统中存在的符号未知控制增益不确定问题,构建一种新的Nussbaum稳定性引理,提出一种能够有效处理时变控制增益不确定的鲁棒λ调节控制算法,能够同时处理漂移不确定和控制增益不确定问题,使所有信号满足一致最终有界且跟踪误差最终收敛于预先指定的区域内。针对闭环系统的暂态／稳态控制性能问题,通过引入性能函数将考虑暂态/稳态控制性能的约束系统转换为无约束的一类严反馈非线性系统,设计了一种同时考虑暂态／稳态控制性能的控制算法。该算法不仅能够保证闭环系统输出误差最终收敛于一个预先指定的区域内,而且还可以保证系统满足预先指定的暂态性能。最后将研究结果应用于船舶航向保持控制系统,设计实际控制器。利用Matlab进行仿真实验,实验结果验证了所有控制算法的有效性。本文的研究结论具有较强的理论意义和较高的实用价值,有助于提高船舶操控性能、保障航行安全、节省人力和能源消耗,为数字航海、智能航海打下坚实的基础。
[Abstract]:With the rapid progress of shipbuilding technology and the vigorous development of the world shipping industry, ships tend to be specialized, large-scale, automated and high-speed. The study of ship motion control is becoming more and more important. Among them, the research of ship course maintenance control has become an important research direction in the field of ship motion control. During the course of marine navigation, the ship's course keeping control system is nonlinear and uncertain due to the influence of loading state, speed and other external factors, such as wind, wave, current and so on. Therefore, the further study of its control performance has important practical significance. Based on Lyapunov stability theory, Barbalat Lemma Nussbaum invariant Lemma and backstepping technique, a new control algorithm is proposed for a class of uncertain strict feedback nonlinear systems, which solves the problem that the transient and steady-state control performance of closed-loop systems cannot be predefined. The proposed control algorithm has the characteristics of strong robustness and obvious physical significance. A new Lyapunov piecewise continuous differentiable function is defined to solve the drift uncertainty problem in the system. A robust 位 regulation control algorithm is designed. Finally, the steady-state error of the system converges to a predefined region. In order to solve the problem of uncertain gain of time-varying control with known symbols, a more general and effective robust 位 regulation control algorithm is proposed, which can deal with both drift uncertainty and control gain uncertainty at the same time. All the signals are uniformly bounded and the tracking error converges to a predefined region. A new Nussbaum stability Lemma is proposed to solve the problem of uncertain gain of symbolic unknown control. A robust 位 regulation control algorithm is proposed, which can effectively deal with the uncertain gain of time-varying control. It can deal with the uncertainty of drift and the uncertainty of control gain at the same time, so that all the signals are uniformly bounded and the tracking error converges to a predefined region. To solve the problem of transient / steady state control performance of closed loop systems, the constrained systems with transient / steady control performance are transformed into a class of strict feedback nonlinear systems without constraints by introducing a performance function. A control algorithm considering transient / steady state control performance is designed. The proposed algorithm can not only ensure that the output error of the closed-loop system converges to a predefined region, but also ensures that the system satisfies the pre-specified transient performance. Finally, the research results are applied to the ship course maintenance control system and the actual controller is designed. The simulation results of Matlab show that all the control algorithms are effective. The conclusion of this paper has strong theoretical significance and high practical value, which is helpful to improve ship handling performance, ensure navigation safety, save manpower and energy consumption, and lay a solid foundation for digital navigation and intelligent navigation.
【学位授予单位】：大连海事大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：U664.82

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